Hi I'm trying to create a hand model in Rviz but when I'm trying to launch my hand model, terminal shows error but my robot model has been launched without mesh

error:

 [joint_state_publisher-1] process has died [pid 23769, exit code 1, cmd /opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/misiek/.ros/log/f283dd5c-6a41-11e8-bf9c-000c2952c6a7/joint_state_publisher-1.log].
log file: /home/misiek/.ros/log/f283dd5c-6a41-11e8-bf9c-000c2952c6a7/joint_state_publisher-1*.log

my urdf code:

<?xml version="1.0" ?>

<robot name="avena_hand_description" xmlns:xacro="http://www.ros.org/wiki/xacro">

<material name="grey">
    <color rgba="0.75 0.75 0.75 1"/>
</material>

<!------------------------------------------------------------------------------------> 
<!------------------------------------------------------------------------------------>

<link name="hand">
  <visual>
  <origin xyz="0 0 0" rpy="1.5708 1.5708 0" />
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/hand.dae"/>
  </geometry>
  </visual>
</link>

<!------------------------------------------------------------------------------------>
<!------------------------------------------------------------------------------------>

<link name="finger_middle_right">
  <visual>
    <origin xyz="0.01 -0.022 0.142" rpy="3.1416  0.212 0"/>
    <geometry>
      <mesh filename="package://avena_hand_description/models/hand/meshes/finger_middle.dae"/>
    </geometry>
  </visual>
</link>

<gazebo reference="finger_middle_right">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="right_finger_1" type="revolute">
  <parent link="hand"/>
  <child link="finger_middle_right"/>
  <origin xyz="0.0745 -0.012 0.023" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="1 0 -0.212"/>
</joint>

<link name="finger_end_right">
  <visual>
  <origin rpy="3.1416  0.212 0" xyz="0.021 -0.022 0.193"/>
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/finger_end.dae"/>
  </geometry>
  </visual>
</link>

<gazebo reference="finger_end_right">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="right_finger_2" type="revolute">
  <parent link="finger_middle_right"/>
  <child link="finger_end_right"/>
  <origin xyz="0.0745 -0.012 0.023" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="1 0 -0.212"/>
</joint>

<!------------------------------------------------------------------------------------>

<link name="finger_middle_middle">
  <visual>
  <origin rpy="3.1416 0 0" xyz="-0.029 -0.022 0.13"/>
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/finger_middle.dae"/>
  </geometry>
  </visual>
</link>

<gazebo reference="finger_middle_middle">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="middle_finger_1" type="revolute">
  <parent link="hand"/>
  <child link="finger_middle_middle"/>
  <origin xyz="0.0745 -0.012 0.023" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="1 0 0"/>
</joint>

<link name="finger_end_middle">
  <visual>
  <origin rpy="3.1416 0 0" xyz="-0.029 -0.022 0.182"/>
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/finger_end.dae"/>
  </geometry>
  </visual>
</link>

<gazebo reference="finger_end_middle">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="middle_finger_2" type="revolute">
  <parent link="finger_middle_middle"/>
  <child link="finger_end_middle"/>
  <origin xyz="0.0745 -0.012 0.023" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="1 0 0"/>
</joint>

<!------------------------------------------------------------------------------------>

<link name="finger_middle_left">
  <visual>
  <origin rpy="3.1416  -0.212 0" xyz="-0.0655 -0.022 0.1105"/>
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/finger_middle.dae"/>
  </geometry>
  </visual>
</link>

<gazebo reference="finger_middle_left">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="left_finger_1" type="revolute">
  <parent link="hand"/>
  <child link="finger_middle_left"/>
  <origin xyz="0.0745 -0.012 0.023" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="1 0 0.212"/>
</joint>

<link name="finger_end_left">
  <visual>
  <origin rpy="3.1416  -0.212 0" xyz="-0.0765 -0.022 0.162"/>
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/finger_end.dae"/>
  </geometry>
  </visual>
</link>

<gazebo reference="finger_end_left">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="left_finger_2" type="revolute">
  <parent link="finger_middle_left"/>
  <child link="finger_end_left"/>
  <origin xyz="0.0745 -0.012 0.023" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="1 0 0.212"/>
</joint>

<!------------------------------------------------------------------------------------>

<link name="thumb_connector">
  <visual>
  <origin rpy="-0.1651 0 1.5708" xyz="0 -0.0155 0.0198"/>
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/thumb_connector.dae"/>
  </geometry>
  </visual>
</link>

<gazebo reference="thumb_connector">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="thumb_1" type="revolute">
  <parent link="hand"/>
  <child link="thumb_connector"/>
  <origin xyz="0.0055 -0.0095 0.0078" rpy="0 0 1.5708"/>
  <limit lower="-1.5708" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="1 0 0.1651"/>
</joint>

<link name="thumb">
  <visual>
  <origin rpy="-1.5708 1.4057 0" xyz="-0.0168 0.0475 0.1015"/>
  <geometry>
    <mesh filename="package://avena_hand_description/models/hand/meshes/thumb.dae"/>
  </geometry>
  </visual>
</link>

<gazebo reference="thumb">
    <kp>1000.0</kp>
    <kd>10.0</kd>
    <mu1>10.0</mu1>
    <mu2>10.0</mu2>
    <material>Gazebo/Grey</material>
</gazebo>

<joint name="thumb_2" type="revolute">
  <parent link="thumb_connector"/>
  <child link="thumb"/>
  <origin xyz="0.0735 -0.0125 -0.029" rpy="0 0 0"/>
  <limit lower="-1.92" upper="0" effort="0.1" velocity="0.005"/>
  <axis xyz="0 0 -0.1651"/>
</joint>

</robot>

Launch file:

<launch>

<!-- USE: roslaunch avena_hand_description urdf_visualize.launch model:='$(find avena_hand_description)/urdf/avena_hand_description.urdf' -->
<arg name="model" default=""/>


<param name="robot_description" command="cat $(arg model)" />

<!-- send fake joint values -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node>


<!-- Combine joint values -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

<!-- Show in Rviz   -->
<!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find avena_hand_description)/rviz_config/urdf.rviz"/> -->
<node name="rviz" pkg="rviz" type="rviz" args=""/>

</launch>

Thank you in advance